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81 lines
2.5 KiB
81 lines
2.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// Sensors are not available in HIL_MODE_ATTITUDE |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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void ReadSCP1000(void) {} |
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static void init_barometer(void) |
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{ |
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barometer.calibrate(mavlink_delay); |
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ahrs.set_barometer(&barometer); |
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); |
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} |
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// filter altitude from the barometer with a 0.3 low pass |
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// filter |
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static LowPassFilterInt32 altitude_filter(0.3); |
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// read the barometer and return the updated altitude in centimeters |
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// above the calibration altitude |
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static int32_t read_barometer(void) |
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{ |
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barometer.read(); |
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return altitude_filter.apply(((int32_t)barometer.get_altitude() * 100.0)); |
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} |
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// in M/S * 100 |
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static void read_airspeed(void) |
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{ |
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#if GPS_PROTOCOL != GPS_PROTOCOL_IMU // Xplane will supply the airspeed |
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if (g.airspeed_offset == 0) { |
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// runtime enabling of airspeed, we need to do instant |
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// calibration before we can use it. This isn't as |
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// accurate as the 50 point average in zero_airspeed(), |
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// but it is better than using it uncalibrated |
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airspeed_raw = pitot_analog_source.read(); |
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g.airspeed_offset.set_and_save(airspeed_raw); |
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} |
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airspeed_raw = (pitot_analog_source.read() * 0.1) + (airspeed_raw * 0.9); |
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airspeed_pressure = max((airspeed_raw - g.airspeed_offset), 0); |
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airspeed = sqrt(airspeed_pressure * g.airspeed_ratio) * 100; |
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#endif |
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calc_airspeed_errors(); |
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} |
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static void zero_airspeed(void) |
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{ |
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float sum = 0; |
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int c; |
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airspeed_raw = pitot_analog_source.read(); |
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for(c = 0; c < 250; c++) { |
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delay(2); |
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sum += pitot_analog_source.read(); |
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} |
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sum /= c; |
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g.airspeed_offset.set_and_save((int16_t)sum); |
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} |
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#endif // HIL_MODE != HIL_MODE_ATTITUDE |
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static void read_battery(void) |
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{ |
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if(g.battery_monitoring == 0) { |
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battery_voltage1 = 0; |
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return; |
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} |
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) |
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battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9; |
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if(g.battery_monitoring == 4) { |
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current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin |
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current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours) |
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} |
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#if BATTERY_EVENT == ENABLED |
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if(battery_voltage1 < LOW_VOLTAGE) low_battery_event(); |
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if(g.battery_monitoring == 4 && current_total1 > g.pack_capacity) low_battery_event(); |
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#endif |
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} |
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